chore: 添加第三方依赖库

thirdparty/rapier.js/testbed3d/src/demos/convexPolyhedron.ts

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+import type {Testbed} from "../Testbed";
+import seedrandom from "seedrandom";
+
+type RAPIER_API = typeof import("@dimforge/rapier3d");
+
+function generateTriMesh(nsubdivs: number, wx: number, wy: number, wz: number) {
+    let vertices = [];
+    let indices = [];
+
+    let elementWidth = 1.0 / nsubdivs;
+    let rng = seedrandom("trimesh");
+
+    let i, j;
+    for (i = 0; i <= nsubdivs; ++i) {
+        for (j = 0; j <= nsubdivs; ++j) {
+            let x = (j * elementWidth - 0.5) * wx;
+            let y = rng() * wy;
+            let z = (i * elementWidth - 0.5) * wz;
+
+            vertices.push(x, y, z);
+        }
+    }
+
+    for (i = 0; i < nsubdivs; ++i) {
+        for (j = 0; j < nsubdivs; ++j) {
+            let i1 = (i + 0) * (nsubdivs + 1) + (j + 0);
+            let i2 = (i + 0) * (nsubdivs + 1) + (j + 1);
+            let i3 = (i + 1) * (nsubdivs + 1) + (j + 0);
+            let i4 = (i + 1) * (nsubdivs + 1) + (j + 1);
+
+            indices.push(i1, i3, i2);
+            indices.push(i3, i4, i2);
+        }
+    }
+
+    return {
+        vertices: new Float32Array(vertices),
+        indices: new Uint32Array(indices),
+    };
+}
+
+export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
+    let gravity = new RAPIER.Vector3(0.0, -9.81, 0.0);
+    let world = new RAPIER.World(gravity);
+
+    // Create Ground.
+    let bodyDesc = RAPIER.RigidBodyDesc.fixed();
+    let body = world.createRigidBody(bodyDesc);
+    let trimesh = generateTriMesh(20, 40.0, 4.0, 40.0);
+    let colliderDesc = RAPIER.ColliderDesc.trimesh(
+        trimesh.vertices,
+        trimesh.indices,
+    );
+    world.createCollider(colliderDesc, body);
+
+    /*
+     * Create the polyhedra
+     */
+    let num = 5;
+    let scale = 2.0;
+    let border_rad = 0.1;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num / 2);
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2);
+
+    let rng = seedrandom("convexPolyhedron");
+    let i, j, k, l;
+
+    for (j = 0; j < 15; ++j) {
+        for (i = 0; i < num; ++i) {
+            for (k = 0; k < num; ++k) {
+                let x = i * shift - centerx;
+                let y = j * shift + centery + 3.0;
+                let z = k * shift - centerz;
+
+                let vertices = [];
+                for (l = 0; l < 10; ++l) {
+                    vertices.push(rng() * scale, rng() * scale, rng() * scale);
+                }
+                let v = new Float32Array(vertices);
+
+                // Build the rigid body.
+                bodyDesc = RAPIER.RigidBodyDesc.dynamic().setTranslation(
+                    x,
+                    y,
+                    z,
+                );
+                body = world.createRigidBody(bodyDesc);
+                colliderDesc = RAPIER.ColliderDesc.roundConvexHull(
+                    v,
+                    border_rad,
+                );
+                world.createCollider(colliderDesc, body);
+            }
+        }
+    }
+
+    testbed.setWorld(world);
+
+    let cameraPosition = {
+        eye: {
+            x: -88.48024008669711,
+            y: 46.911325612198354,
+            z: 83.56055570254844,
+        },
+        target: {x: 0.0, y: 0.0, z: 0.0},
+    };
+    testbed.lookAt(cameraPosition);
+}